diff --git a/src/active_bo_msgs/CMakeLists.txt b/src/active_bo_msgs/CMakeLists.txt
index 414e6be..f9f39d0 100644
--- a/src/active_bo_msgs/CMakeLists.txt
+++ b/src/active_bo_msgs/CMakeLists.txt
@@ -30,6 +30,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"msg/ActiveRLResponse.msg"
"msg/ActiveRL.msg"
"msg/ImageFeedback.msg"
+ "msg/ActiveBOState.msg"
)
diff --git a/src/active_bo_msgs/msg/ActiveBORequest.msg b/src/active_bo_msgs/msg/ActiveBORequest.msg
index 6cdc248..ad4bed8 100644
--- a/src/active_bo_msgs/msg/ActiveBORequest.msg
+++ b/src/active_bo_msgs/msg/ActiveBORequest.msg
@@ -6,4 +6,5 @@ uint16 max_steps
uint16 nr_episodes
uint16 nr_runs
string acquisition_function
-float32 metric_parameter
\ No newline at end of file
+float32 metric_parameter
+bool save_result
\ No newline at end of file
diff --git a/src/active_bo_msgs/msg/ActiveBOState.msg b/src/active_bo_msgs/msg/ActiveBOState.msg
new file mode 100644
index 0000000..c6df26e
--- /dev/null
+++ b/src/active_bo_msgs/msg/ActiveBOState.msg
@@ -0,0 +1,4 @@
+uint16 current_run
+uint16 current_episode
+float32 best_reward
+float32 last_user_reward
\ No newline at end of file
diff --git a/src/active_bo_ros/active_bo_ros/active_bo_topic.py b/src/active_bo_ros/active_bo_ros/active_bo_topic.py
index d66e77d..1b38efd 100644
--- a/src/active_bo_ros/active_bo_ros/active_bo_topic.py
+++ b/src/active_bo_ros/active_bo_ros/active_bo_topic.py
@@ -2,6 +2,7 @@ from active_bo_msgs.msg import ActiveBORequest
from active_bo_msgs.msg import ActiveBOResponse
from active_bo_msgs.msg import ActiveRL
from active_bo_msgs.msg import ActiveRLResponse
+from active_bo_msgs.msg import ActiveBOState
import rclpy
from rclpy.node import Node
@@ -22,6 +23,7 @@ from active_bo_ros.UserQuery.max_acq_query import MaxAcqQuery
import numpy as np
import time
+import os
class ActiveBOTopic(Node):
@@ -47,14 +49,15 @@ class ActiveBOTopic(Node):
self.bo_metric = None
self.bo_fixed_seed = False
self.bo_nr_weights = None
- self.bo_steps = None
- self.bo_episodes = None
- self.bo_runs = None
+ self.bo_steps = 0
+ self.bo_episodes = 0
+ self.bo_runs = 0
self.bo_acq_fcn = None
self.bo_metric_parameter = None
self.current_run = 0
self.current_episode = 0
self.seed = None
+ self.save_result = False
# Active Reinforcement Learning Publisher, Subscriber and Message attributes
self.active_rl_pub = self.create_publisher(ActiveRL,
@@ -68,7 +71,10 @@ class ActiveBOTopic(Node):
self.active_rl_pending = False
self.rl_weights = None
self.rl_final_step = None
- self.rl_reward = None
+ self.rl_reward = 0.0
+
+ # State Publisher
+ self.state_pub = self.create_publisher(ActiveBOState, 'active_bo_state', 1)
# RL Environments and BO
self.env = None
@@ -76,6 +82,7 @@ class ActiveBOTopic(Node):
self.BO = None
self.nr_init = 3
self.reward = None
+ self.best_reward = 0.0
self.best_pol_reward = None
self.best_policy = None
self.best_weights = None
@@ -91,13 +98,14 @@ class ActiveBOTopic(Node):
self.bo_metric = None
self.bo_fixed_seed = False
self.bo_nr_weights = None
- self.bo_steps = None
- self.bo_episodes = None
- self.bo_runs = None
+ self.bo_steps = 0
+ self.bo_episodes = 0
+ self.bo_runs = 0
self.bo_acq_fcn = None
self.bo_metric_parameter = None
self.current_run = 0
self.current_episode = 0
+ self.save_result = False
def active_bo_callback(self, msg):
if not self.active_bo_pending:
@@ -112,6 +120,7 @@ class ActiveBOTopic(Node):
self.bo_runs = msg.nr_runs
self.bo_acq_fcn = msg.acquisition_function
self.bo_metric_parameter = msg.metric_parameter
+ self.save_result = msg.save_result
# initialize
self.reward = np.zeros((self.bo_episodes, self.bo_runs))
@@ -128,7 +137,6 @@ class ActiveBOTopic(Node):
def reset_rl_response(self):
self.rl_weights = None
self.rl_final_step = None
- self.rl_reward = None
def active_rl_callback(self, msg):
if self.active_rl_pending:
@@ -180,6 +188,18 @@ class ActiveBOTopic(Node):
bo_response.reward_mean = np.mean(self.reward, axis=1).tolist()
bo_response.reward_std = np.std(self.reward, axis=1).tolist()
+ if self.save_result:
+ home_dir = os.path.expanduser('~')
+ file_path = os.path.join(home_dir, 'Documents/IntRLResults')
+ filename = self.bo_metric + '-'\
+ + str(self.bo_metric_parameter) + '-' \
+ + str(self.bo_nr_weights) + '-' + str(time.time())
+ filename = filename.replace('.', '_') + '.csv'
+ path = os.path.join(file_path, filename)
+ self.get_logger().info(path)
+
+ np.savetxt(path, self.reward, delimiter=',')
+
self.get_logger().info('Responding: Active BO')
self.active_bo_pub.publish(bo_response)
self.reset_bo_request()
@@ -249,6 +269,18 @@ class ActiveBOTopic(Node):
self.current_run += 1
self.get_logger().info(f'Current Run: {self.current_run}')
+ # send the current states
+
+ if self.BO is not None and self.BO.Y is not None:
+ self.best_reward = np.max(self.BO.Y)
+
+ state_msg = ActiveBOState()
+ state_msg.current_run = self.current_run + 1 if self.current_run < self.bo_runs else self.bo_runs
+ state_msg.current_episode = self.current_episode + 1\
+ if self.current_episode < self.bo_episodes else self.bo_episodes
+ state_msg.best_reward = self.best_reward
+ state_msg.last_user_reward = self.rl_reward
+ self.state_pub.publish(state_msg)
def main(args=None):
rclpy.init(args=args)
diff --git a/src/active_bo_ros/active_bo_ros/active_rl_topic.py b/src/active_bo_ros/active_bo_ros/active_rl_topic.py
index 0fd524d..b2a6106 100644
--- a/src/active_bo_ros/active_bo_ros/active_rl_topic.py
+++ b/src/active_bo_ros/active_bo_ros/active_rl_topic.py
@@ -172,6 +172,7 @@ class ActiveRLService(Node):
if done:
self.best_pol_shown = True
self.rl_step = 0
+ self.rl_reward = 0.0
elif self.best_pol_shown:
if not self.eval_response_received: